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Dependencies:   mbed FreeRTOS

userTask.cpp@40:debe99e228d3, 2019-01-21 (annotated)

Committer:
MasashiNomura
Date:
Mon Jan 21 06:32:24 2019 +0000
Revision:
40:debe99e228d3
Parent:
39:1b76f7df8804
Child:
41:45c982b1c5b6
20190121 Modify MotorCtrl etc

Who changed what in which revision?

UserRevisionLine numberNew contents of line
takeru0x1103 21:78302ecdb661 1 //RTOS関連------------------
takeru0x1103 1:15ab74f0d0f1 2 #include "FreeRTOS.h"
takeru0x1103 1:15ab74f0d0f1 3 #include "task.h"
takeru0x1103 21:78302ecdb661 4 //#include "queue.h"
takeru0x1103 21:78302ecdb661 5 //------------------RTOS関連
takeru0x1103 21:78302ecdb661 6
takeru0x1103 17:f9610f3cfa1b 7 #include "globalFlags.h"
takeru0x1103 17:f9610f3cfa1b 8 #include "HbManager.h"
takeru0x1103 18:5aa48aec9cae 9 #include "hbCommand.h"
takeru0x1103 18:5aa48aec9cae 10 #include "uart.h"
MasashiNomura 24:c5945aaae777 11 #include "fpga.h"
takeru0x1103 1:15ab74f0d0f1 12
takeru0x1103 18:5aa48aec9cae 13 //タスクハンドル（停止とか再開に必要）
takeru0x1103 18:5aa48aec9cae 14 static xTaskHandle tskHandle[3]={NULL,};
takeru0x1103 1:15ab74f0d0f1 15
takeru0x1103 21:78302ecdb661 16 //------------------
takeru0x1103 18:5aa48aec9cae 17 //タスク停止
takeru0x1103 18:5aa48aec9cae 18 //------------------
takeru0x1103 18:5aa48aec9cae 19 static void taskStop(int iId){
takeru0x1103 18:5aa48aec9cae 20 sp.printf("Task[%d] Stop\r\n" , iId);
takeru0x1103 18:5aa48aec9cae 21 vTaskSuspend(tskHandle[iId]);//タスクを止める
takeru0x1103 18:5aa48aec9cae 22 }
takeru0x1103 18:5aa48aec9cae 23
takeru0x1103 21:78302ecdb661 24 //------------------
takeru0x1103 18:5aa48aec9cae 25 //タスク再開
takeru0x1103 18:5aa48aec9cae 26 //------------------
takeru0x1103 18:5aa48aec9cae 27 static void taskStart(int iId){
takeru0x1103 18:5aa48aec9cae 28 sp.printf("Task[%d] Start!!\r\n" , iId);
takeru0x1103 18:5aa48aec9cae 29 vTaskResume(tskHandle[iId]);//タスク再開
takeru0x1103 18:5aa48aec9cae 30 }
takeru0x1103 18:5aa48aec9cae 31
takeru0x1103 18:5aa48aec9cae 32 //========================================================
takeru0x1103 21:78302ecdb661 33 //コマンド解析タスク
takeru0x1103 21:78302ecdb661 34 //========================================================
takeru0x1103 21:78302ecdb661 35 void taskCmdParser(void *pvParameters){
takeru0x1103 21:78302ecdb661 36 // int8_t *pcTaskName = (int8_t *) pvParameters;;
takeru0x1103 21:78302ecdb661 37 portTickType xLastWakeTime = xTaskGetTickCount();
takeru0x1103 21:78302ecdb661 38
takeru0x1103 21:78302ecdb661 39 // vTaskDelay(300);//制御タスクを先に走らせたいので待たす
takeru0x1103 21:78302ecdb661 40
takeru0x1103 21:78302ecdb661 41 while(1){
takeru0x1103 21:78302ecdb661 42 led2=!led2;
takeru0x1103 21:78302ecdb661 43 //コマンド解釈
takeru0x1103 21:78302ecdb661 44 commandParse();
takeru0x1103 21:78302ecdb661 45
takeru0x1103 21:78302ecdb661 46 //
MasashiNomura 24:c5945aaae777 47 // if(gf_Armed){
MasashiNomura 24:c5945aaae777 48 // setState(WAKEUP);
MasashiNomura 24:c5945aaae777 49 // gf_Armed = false;
MasashiNomura 24:c5945aaae777 50 // // taskStop(0);//制御タスクを止める
MasashiNomura 24:c5945aaae777 51 // // taskStart(2);//デバッグタスク再開
MasashiNomura 24:c5945aaae777 52 // }
MasashiNomura 22:24c9c2dedca9 53 // else{
MasashiNomura 22:24c9c2dedca9 54 // taskStop(2);//デバッグタスクを止める
MasashiNomura 22:24c9c2dedca9 55 // taskStart(0);//制御タスク再開
MasashiNomura 22:24c9c2dedca9 56 // }//switch
takeru0x1103 21:78302ecdb661 57
takeru0x1103 21:78302ecdb661 58 //次の周期まで待つ
takeru0x1103 21:78302ecdb661 59 vTaskDelayUntil(&xLastWakeTime, 50 / portTICK_RATE_MS );
takeru0x1103 21:78302ecdb661 60 }
takeru0x1103 21:78302ecdb661 61 }
takeru0x1103 21:78302ecdb661 62 //========================================================
takeru0x1103 17:f9610f3cfa1b 63 //ホバーバイク制御タスク
takeru0x1103 18:5aa48aec9cae 64 //========================================================
takeru0x1103 17:f9610f3cfa1b 65 void taskHbControl(void *pvParameters){
takeru0x1103 21:78302ecdb661 66 // int8_t *pcTaskName = (int8_t *) pvParameters;;
takeru0x1103 21:78302ecdb661 67 portTickType xLastWakeTime = xTaskGetTickCount();
takeru0x1103 21:78302ecdb661 68
takeru0x1103 17:f9610f3cfa1b 69 HbManager hb;
takeru0x1103 8:1ca49cb18290 70
MasashiNomura 23:79e20be4bc5b 71 bool bDoCtrlAtt;
MasashiNomura 23:79e20be4bc5b 72 bool bDoCtrlMot;
MasashiNomura 31:56c554c560c1 73 bool bDoCtrlEng;
MasashiNomura 37:d51dacb4c30f 74 bool bTmp;
MasashiNomura 31:56c554c560c1 75 //INT16 tmpRpm, difRpm;
MasashiNomura 36:2cc739c7e4cb 76 INT16 cntSW1 = 0;
MasashiNomura 36:2cc739c7e4cb 77 INT16 cntSW2 = 0;
MasashiNomura 33:eb260dbfc22a 78 INT16 AxlRpm;
MasashiNomura 36:2cc739c7e4cb 79 INT16 TrtlVal;
MasashiNomura 38:24ee50452755 80 float AxlRow;
MasashiNomura 38:24ee50452755 81 float TrtlRow;
takeru0x1103 1:15ab74f0d0f1 82 while(1){
takeru0x1103 16:05b9e44889f1 83 led1=!led1;
MasashiNomura 39:1b76f7df8804 84 hb.proofOfSurvival();
MasashiNomura 23:79e20be4bc5b 85 bDoCtrlAtt = false;
MasashiNomura 23:79e20be4bc5b 86 bDoCtrlMot = false;
MasashiNomura 31:56c554c560c1 87 bDoCtrlEng = false;
MasashiNomura 24:c5945aaae777 88 // PID係数アップデートチェック
MasashiNomura 24:c5945aaae777 89 if(gf_PidParaUpdate){
MasashiNomura 24:c5945aaae777 90 hb.setAttPara(g_PidPara);
MasashiNomura 24:c5945aaae777 91 sp.printf("Pp : [%f]\r\n",g_PidPara.PP);
MasashiNomura 24:c5945aaae777 92 sp.printf("P : [%f]\r\n",g_PidPara.P);
MasashiNomura 24:c5945aaae777 93 sp.printf("I : [%f]\r\n",g_PidPara.I);
MasashiNomura 24:c5945aaae777 94 sp.printf("D : [%f]\r\n",g_PidPara.D);
MasashiNomura 24:c5945aaae777 95 sp.printf("IMAX: [%f]\r\n",g_PidPara.IMax);
MasashiNomura 24:c5945aaae777 96 sp.printf("IMIN: [%f]\r\n",g_PidPara.IMin);
MasashiNomura 31:56c554c560c1 97 sp.printf("V : [%f]\r\n",g_PidPara.V);
MasashiNomura 24:c5945aaae777 98 gf_PidParaUpdate = false;
MasashiNomura 24:c5945aaae777 99 }
MasashiNomura 37:d51dacb4c30f 100 // 確実にモーター等を止めるため
MasashiNomura 25:f3a6e7eec9c3 101 if(gf_StopMot){
MasashiNomura 29:eb3d72dd94aa 102 for(int i = 0; i < 4; ++i){
MasashiNomura 32:7f4145cc3551 103 gf_MtReq[i].req = true;
MasashiNomura 32:7f4145cc3551 104 gf_MtReq[i].val = 0;
MasashiNomura 32:7f4145cc3551 105 gf_MtReqOfs[i].req = true;
MasashiNomura 32:7f4145cc3551 106 gf_MtReqOfs[i].val = 0;
MasashiNomura 29:eb3d72dd94aa 107 }
MasashiNomura 37:d51dacb4c30f 108 for(int i = 0; i < 2; ++i){
MasashiNomura 37:d51dacb4c30f 109 gf_AxReq[i].bf.req = true;
MasashiNomura 37:d51dacb4c30f 110 gf_AxReq[i].bf.val = 0;
MasashiNomura 37:d51dacb4c30f 111 }
MasashiNomura 37:d51dacb4c30f 112 gf_FromActiveStat = isActiveState();
MasashiNomura 37:d51dacb4c30f 113 setStateF(MOT_STOP);
MasashiNomura 25:f3a6e7eec9c3 114 gf_StopMot = false;
MasashiNomura 25:f3a6e7eec9c3 115 }
MasashiNomura 23:79e20be4bc5b 116
MasashiNomura 29:eb3d72dd94aa 117
takeru0x1103 21:78302ecdb661 118 //▼①状態読み出し系
MasashiNomura 22:24c9c2dedca9 119 hb.getAttitude(); //現在角度読み出し
MasashiNomura 39:1b76f7df8804 120 hb.getEngine(); //エンジン回転数読み出し
MasashiNomura 22:24c9c2dedca9 121 hb.getUserCommand(); //操作ボタン状態読み出し
MasashiNomura 29:eb3d72dd94aa 122
takeru0x1103 21:78302ecdb661 123 //▼②ステート遷移
MasashiNomura 22:24c9c2dedca9 124 switch(gf_State){
MasashiNomura 22:24c9c2dedca9 125 case SLEEP:
MasashiNomura 36:2cc739c7e4cb 126 if(gf_StateEnt){
MasashiNomura 36:2cc739c7e4cb 127 sp.printf("SLEEP state\r\n");
MasashiNomura 36:2cc739c7e4cb 128 gf_StateEnt = false;
MasashiNomura 36:2cc739c7e4cb 129 }
MasashiNomura 36:2cc739c7e4cb 130 // DEBUGタスクスタートフラグの監視
MasashiNomura 22:24c9c2dedca9 131 if(gf_Dbg){
MasashiNomura 24:c5945aaae777 132 gf_Dbg = false;
MasashiNomura 22:24c9c2dedca9 133 taskStart(2);
MasashiNomura 22:24c9c2dedca9 134 }
MasashiNomura 37:d51dacb4c30f 135 if(hb.chkSWUserOpeAny()){
MasashiNomura 37:d51dacb4c30f 136 typUserSw sw = hb.getUserSw();
MasashiNomura 39:1b76f7df8804 137 sp.printf("%d%d%d%d%d%d%d%d%d%d\r\n",sw.bf.brk_l,sw.bf.flt_off,sw.bf.r_eng_down,sw.bf.r_eng_up,sw.bf.rsv_1
MasashiNomura 39:1b76f7df8804 138 ,sw.bf.brk_r,sw.bf.flt_on,sw.bf.f_eng_down,sw.bf.f_eng_up, sw.bf.all_stop);
MasashiNomura 38:24ee50452755 139 } else {
MasashiNomura 38:24ee50452755 140 //TrtlRow = hb.getUserEngTrottleRaw();
MasashiNomura 38:24ee50452755 141 if(gf_Print.bf.ain){
MasashiNomura 40:debe99e228d3 142 AxlRow = hb.getUserMotAxlRaw();
MasashiNomura 38:24ee50452755 143 sp.printf("MotAxl:%f\r\n",AxlRow);
MasashiNomura 38:24ee50452755 144 }
MasashiNomura 37:d51dacb4c30f 145 }
MasashiNomura 36:2cc739c7e4cb 146 // 浮上（離陸）ボタン、着陸ボタンの同時長押し監視
MasashiNomura 36:2cc739c7e4cb 147 if(hb.chkSWUserOpeBoth(HbUserOpe::FLT_ON,HbUserOpe::FLT_OFF)){
MasashiNomura 36:2cc739c7e4cb 148 ++cntSW1;
MasashiNomura 36:2cc739c7e4cb 149 if(cntSW1 > 30){
MasashiNomura 36:2cc739c7e4cb 150 cntSW1 = 0;
MasashiNomura 36:2cc739c7e4cb 151 setStateF(CHK_EG_ENT);
MasashiNomura 36:2cc739c7e4cb 152 }
MasashiNomura 36:2cc739c7e4cb 153 }
MasashiNomura 36:2cc739c7e4cb 154 else {
MasashiNomura 36:2cc739c7e4cb 155 cntSW1 = 0;
MasashiNomura 36:2cc739c7e4cb 156 }
MasashiNomura 36:2cc739c7e4cb 157 if(hb.chkSWUserOpeBoth(HbUserOpe::BRK_L, HbUserOpe::BRK_R)){
MasashiNomura 36:2cc739c7e4cb 158 ++cntSW2;
MasashiNomura 36:2cc739c7e4cb 159 if(cntSW2 > 30){
MasashiNomura 36:2cc739c7e4cb 160 cntSW2 = 0;
MasashiNomura 36:2cc739c7e4cb 161 setStateF(WAKEUP);
MasashiNomura 36:2cc739c7e4cb 162 }
MasashiNomura 36:2cc739c7e4cb 163 }
MasashiNomura 36:2cc739c7e4cb 164 else {
MasashiNomura 36:2cc739c7e4cb 165 cntSW2 = 0;
MasashiNomura 36:2cc739c7e4cb 166 }
MasashiNomura 40:debe99e228d3 167 // Debug用
MasashiNomura 40:debe99e228d3 168 bDoCtrlMot = true;
MasashiNomura 22:24c9c2dedca9 169 break;
MasashiNomura 22:24c9c2dedca9 170 case WAKEUP:
MasashiNomura 36:2cc739c7e4cb 171 if(gf_StateEnt){
MasashiNomura 36:2cc739c7e4cb 172 //スイッチが何も押されていないことの確認
MasashiNomura 36:2cc739c7e4cb 173 if(!hb.chkSWUserOpeAny()){
MasashiNomura 36:2cc739c7e4cb 174 sp.printf("WAKEUP state\r\n");
MasashiNomura 36:2cc739c7e4cb 175 gf_StateEnt = false;
MasashiNomura 36:2cc739c7e4cb 176 }
MasashiNomura 36:2cc739c7e4cb 177 }
MasashiNomura 36:2cc739c7e4cb 178 else
MasashiNomura 36:2cc739c7e4cb 179 {
MasashiNomura 36:2cc739c7e4cb 180 //各種モーター
MasashiNomura 36:2cc739c7e4cb 181 //機材のチェック
MasashiNomura 36:2cc739c7e4cb 182 hb.calAtt();//現在値でヨー角校正
MasashiNomura 36:2cc739c7e4cb 183 //モーター用のアナログ入力が下げられているかの確認
MasashiNomura 36:2cc739c7e4cb 184 AxlRpm = hb.getUserMotAxl();
MasashiNomura 36:2cc739c7e4cb 185 if(AxlRpm > 0){
MasashiNomura 36:2cc739c7e4cb 186 // 将来的に警告音等
MasashiNomura 38:24ee50452755 187 sp.printf("Warning!! Motor Accel Opened!![%d]\r\n",AxlRpm);
MasashiNomura 36:2cc739c7e4cb 188 setStateF(SLEEP);
MasashiNomura 36:2cc739c7e4cb 189 } else {
MasashiNomura 36:2cc739c7e4cb 190 setState(STANDBY);
MasashiNomura 36:2cc739c7e4cb 191 }
MasashiNomura 35:3779201b4c73 192 }
MasashiNomura 22:24c9c2dedca9 193 break;
MasashiNomura 22:24c9c2dedca9 194 case STANDBY:
MasashiNomura 36:2cc739c7e4cb 195 bDoCtrlMot = true;
MasashiNomura 36:2cc739c7e4cb 196 if(gf_StateEnt){
MasashiNomura 36:2cc739c7e4cb 197 // モーター回転数のチェック→モーターの回転数をオフセット値まで上げる
MasashiNomura 36:2cc739c7e4cb 198 // TODO
MasashiNomura 36:2cc739c7e4cb 199 sp.printf("STANDBY state\r\n");
MasashiNomura 36:2cc739c7e4cb 200 gf_StateEnt = false;
MasashiNomura 36:2cc739c7e4cb 201 }
MasashiNomura 36:2cc739c7e4cb 202 else {
MasashiNomura 40:debe99e228d3 203
MasashiNomura 25:f3a6e7eec9c3 204 if(hb.chkInRangeIDLE()){
MasashiNomura 36:2cc739c7e4cb 205 hb.calAtt();//現在値でヨー角校正
MasashiNomura 25:f3a6e7eec9c3 206 setState(IDLE);
MasashiNomura 25:f3a6e7eec9c3 207 }
MasashiNomura 25:f3a6e7eec9c3 208 else{
MasashiNomura 25:f3a6e7eec9c3 209 // デバッグのためここもスルー
MasashiNomura 36:2cc739c7e4cb 210 hb.calAtt();//現在値でヨー角校正
MasashiNomura 25:f3a6e7eec9c3 211 setState(IDLE);
MasashiNomura 25:f3a6e7eec9c3 212 }
MasashiNomura 23:79e20be4bc5b 213 }
MasashiNomura 22:24c9c2dedca9 214 break;
MasashiNomura 22:24c9c2dedca9 215 case IDLE:
MasashiNomura 36:2cc739c7e4cb 216 if(gf_StateEnt){
MasashiNomura 36:2cc739c7e4cb 217 sp.printf("IDLE state\r\n");
MasashiNomura 36:2cc739c7e4cb 218 gf_StateEnt = false;
MasashiNomura 36:2cc739c7e4cb 219 }
MasashiNomura 23:79e20be4bc5b 220 //SWのチェック
MasashiNomura 31:56c554c560c1 221 hb.chkSW(IDLE);
MasashiNomura 33:eb260dbfc22a 222 AxlRpm = hb.getUserMotAxl();
MasashiNomura 33:eb260dbfc22a 223 hb.setMotVal(R_L,AxlRpm);
MasashiNomura 33:eb260dbfc22a 224 hb.setMotVal(R_R,AxlRpm);
MasashiNomura 31:56c554c560c1 225 bDoCtrlEng = true;
MasashiNomura 25:f3a6e7eec9c3 226 bDoCtrlMot = true;
MasashiNomura 40:debe99e228d3 227 //bDoCtrlAtt = true;
MasashiNomura 22:24c9c2dedca9 228 break;
MasashiNomura 22:24c9c2dedca9 229 case TAKE_OFF:
MasashiNomura 36:2cc739c7e4cb 230 if(gf_StateEnt){
MasashiNomura 36:2cc739c7e4cb 231 sp.printf("TAKE_OFF state\r\n");
MasashiNomura 36:2cc739c7e4cb 232 gf_StateEnt = false;
MasashiNomura 36:2cc739c7e4cb 233 }
MasashiNomura 23:79e20be4bc5b 234 // エンジン回転数のチェック
MasashiNomura 23:79e20be4bc5b 235 // 着陸ボタンが優先度が高いので先に判定、たが、まだ作ってないのでコメントアウト
MasashiNomura 40:debe99e228d3 236 // if(hb.chkSWUserOpe(HbUserOpe::STOP)){
MasashiNomura 23:79e20be4bc5b 237 // setState(GROUND);
MasashiNomura 23:79e20be4bc5b 238 // }
MasashiNomura 23:79e20be4bc5b 239 //else
MasashiNomura 34:234b87f3e6ce 240 hb.chkSW(TAKE_OFF);
MasashiNomura 34:234b87f3e6ce 241 AxlRpm = hb.getUserMotAxl();
MasashiNomura 34:234b87f3e6ce 242 hb.setMotVal(R_L,AxlRpm);
MasashiNomura 34:234b87f3e6ce 243 hb.setMotVal(R_R,AxlRpm);
MasashiNomura 31:56c554c560c1 244 bDoCtrlEng = true;
MasashiNomura 23:79e20be4bc5b 245 bDoCtrlMot = true;
MasashiNomura 23:79e20be4bc5b 246 bDoCtrlAtt = true;
MasashiNomura 22:24c9c2dedca9 247 break;
MasashiNomura 22:24c9c2dedca9 248 case GROUND:
MasashiNomura 36:2cc739c7e4cb 249 if(gf_StateEnt){
MasashiNomura 36:2cc739c7e4cb 250 sp.printf("GROUND state\r\n");
MasashiNomura 36:2cc739c7e4cb 251 gf_StateEnt = false;
MasashiNomura 36:2cc739c7e4cb 252 }
MasashiNomura 23:79e20be4bc5b 253 // そのままスルー
MasashiNomura 36:2cc739c7e4cb 254 // TODO エンジン回転数が一定以下になることを確認する
MasashiNomura 23:79e20be4bc5b 255 setState(IDLE);
MasashiNomura 22:24c9c2dedca9 256 break;
MasashiNomura 22:24c9c2dedca9 257 case HOVER:
MasashiNomura 36:2cc739c7e4cb 258 gf_StateEnt = false;
MasashiNomura 23:79e20be4bc5b 259 //
MasashiNomura 22:24c9c2dedca9 260 break;
MasashiNomura 22:24c9c2dedca9 261 case DRIVE:
MasashiNomura 36:2cc739c7e4cb 262 gf_StateEnt = false;
MasashiNomura 22:24c9c2dedca9 263 break;
MasashiNomura 22:24c9c2dedca9 264 case EMGGND:
MasashiNomura 36:2cc739c7e4cb 265 gf_StateEnt = false;
MasashiNomura 36:2cc739c7e4cb 266 break;
MasashiNomura 36:2cc739c7e4cb 267 case CHK_EG_ENT:
MasashiNomura 36:2cc739c7e4cb 268 if(gf_StateEnt){
MasashiNomura 36:2cc739c7e4cb 269 sp.printf("Check Engine enter\r\n");
MasashiNomura 36:2cc739c7e4cb 270 gf_StateEnt = false;
MasashiNomura 36:2cc739c7e4cb 271 }
MasashiNomura 36:2cc739c7e4cb 272 if(!hb.chkSWUserOpeAny()){
MasashiNomura 39:1b76f7df8804 273 //AxlRpm = hb.getUserMotAxl();
MasashiNomura 36:2cc739c7e4cb 274 TrtlVal = hb.getUserEngTrottle();
MasashiNomura 38:24ee50452755 275 //if(AxlRpm > 0 || TrtlVal > 40){
MasashiNomura 39:1b76f7df8804 276 if(TrtlVal > 10){
MasashiNomura 38:24ee50452755 277 sp.printf("Throttle Val:%d\r\n",TrtlVal);
MasashiNomura 36:2cc739c7e4cb 278 break;
MasashiNomura 36:2cc739c7e4cb 279 } else {
MasashiNomura 38:24ee50452755 280 hb.clearHvAxl();
MasashiNomura 36:2cc739c7e4cb 281 setState(CHK_EG_F);
MasashiNomura 36:2cc739c7e4cb 282 }
MasashiNomura 36:2cc739c7e4cb 283 }
MasashiNomura 36:2cc739c7e4cb 284 break;
MasashiNomura 36:2cc739c7e4cb 285 case CHK_EG_F:
MasashiNomura 36:2cc739c7e4cb 286 if(gf_StateEnt){
MasashiNomura 36:2cc739c7e4cb 287 sp.printf("Check Engine Front\r\n");
MasashiNomura 36:2cc739c7e4cb 288 gf_StateEnt = false;
MasashiNomura 36:2cc739c7e4cb 289 }
MasashiNomura 36:2cc739c7e4cb 290 TrtlVal = hb.getUserEngTrottle();
MasashiNomura 36:2cc739c7e4cb 291 hb.setAccelVal(FRONT, TrtlVal);
MasashiNomura 36:2cc739c7e4cb 292 if(hb.chkSWUserOpe(HbUserOpe::F_ENG_UP)){
MasashiNomura 38:24ee50452755 293 sp.printf("FRONT Throttle Val:%d\r\n",TrtlVal);
MasashiNomura 36:2cc739c7e4cb 294 hb.setHvAxl(FRONT, TrtlVal);
MasashiNomura 36:2cc739c7e4cb 295 }
MasashiNomura 36:2cc739c7e4cb 296 if(hb.chkSWUserOpe(HbUserOpe::R_ENG_UP)){
MasashiNomura 36:2cc739c7e4cb 297 if(hb.chkSetHvAxl(FRONT)){
MasashiNomura 36:2cc739c7e4cb 298 setState(CHK_EG_MID);
MasashiNomura 36:2cc739c7e4cb 299 }
MasashiNomura 36:2cc739c7e4cb 300 }
MasashiNomura 39:1b76f7df8804 301 bDoCtrlEng = true;
MasashiNomura 36:2cc739c7e4cb 302 break;
MasashiNomura 36:2cc739c7e4cb 303 case CHK_EG_MID:
MasashiNomura 36:2cc739c7e4cb 304 if(gf_StateEnt){
MasashiNomura 36:2cc739c7e4cb 305 sp.printf("Check Engine MIDDLE\r\n");
MasashiNomura 36:2cc739c7e4cb 306 gf_StateEnt = false;
MasashiNomura 36:2cc739c7e4cb 307 }
MasashiNomura 36:2cc739c7e4cb 308 if(!hb.chkSWUserOpeAny()){
MasashiNomura 39:1b76f7df8804 309 //AxlRpm = hb.getUserMotAxl();
MasashiNomura 36:2cc739c7e4cb 310 TrtlVal = hb.getUserEngTrottle();
MasashiNomura 39:1b76f7df8804 311 //if(AxlRpm > 0 || TrtlVal > 40){
MasashiNomura 39:1b76f7df8804 312 if(TrtlVal > 10){
MasashiNomura 36:2cc739c7e4cb 313 break;
MasashiNomura 36:2cc739c7e4cb 314 } else {
MasashiNomura 36:2cc739c7e4cb 315 setState(CHK_EG_R);
MasashiNomura 36:2cc739c7e4cb 316 }
MasashiNomura 36:2cc739c7e4cb 317 }
MasashiNomura 36:2cc739c7e4cb 318 break;
MasashiNomura 36:2cc739c7e4cb 319 case CHK_EG_R:
MasashiNomura 36:2cc739c7e4cb 320 if(gf_StateEnt){
MasashiNomura 36:2cc739c7e4cb 321 sp.printf("Check Engine Rear\r\n");
MasashiNomura 36:2cc739c7e4cb 322 gf_StateEnt = false;
MasashiNomura 36:2cc739c7e4cb 323 }
MasashiNomura 36:2cc739c7e4cb 324 TrtlVal = hb.getUserEngTrottle();
MasashiNomura 36:2cc739c7e4cb 325 hb.setAccelVal(REAR, TrtlVal);
MasashiNomura 36:2cc739c7e4cb 326 if(hb.chkSWUserOpe(HbUserOpe::F_ENG_UP)){
MasashiNomura 38:24ee50452755 327 sp.printf("REAR Throttle Val:%d\r\n",TrtlVal);
MasashiNomura 36:2cc739c7e4cb 328 hb.setHvAxl(REAR, TrtlVal);
MasashiNomura 36:2cc739c7e4cb 329 }
MasashiNomura 36:2cc739c7e4cb 330 if(hb.chkSWUserOpe(HbUserOpe::R_ENG_UP)){
MasashiNomura 36:2cc739c7e4cb 331 if(hb.chkSetHvAxl(REAR)){
MasashiNomura 36:2cc739c7e4cb 332 setState(CHK_EG_EXIT);
MasashiNomura 36:2cc739c7e4cb 333 }
MasashiNomura 36:2cc739c7e4cb 334 }
MasashiNomura 39:1b76f7df8804 335 bDoCtrlEng = true;
MasashiNomura 36:2cc739c7e4cb 336 break;
MasashiNomura 36:2cc739c7e4cb 337 case CHK_EG_EXIT:
MasashiNomura 36:2cc739c7e4cb 338 if(gf_StateEnt){
MasashiNomura 36:2cc739c7e4cb 339 sp.printf("Check Engine Exit\r\n");
MasashiNomura 36:2cc739c7e4cb 340 gf_StateEnt = false;
MasashiNomura 36:2cc739c7e4cb 341 }
MasashiNomura 36:2cc739c7e4cb 342 if(!hb.chkSWUserOpeAny()){
MasashiNomura 36:2cc739c7e4cb 343 TrtlVal = hb.getUserEngTrottle();
MasashiNomura 39:1b76f7df8804 344 if(TrtlVal > 10){
MasashiNomura 36:2cc739c7e4cb 345 break;
MasashiNomura 36:2cc739c7e4cb 346 } else {
MasashiNomura 36:2cc739c7e4cb 347 setState(SLEEP);
MasashiNomura 36:2cc739c7e4cb 348 }
MasashiNomura 36:2cc739c7e4cb 349 }
MasashiNomura 22:24c9c2dedca9 350 break;
MasashiNomura 23:79e20be4bc5b 351 case CHK_ENT: //チェックエンター
MasashiNomura 36:2cc739c7e4cb 352 if(gf_StateEnt){
MasashiNomura 36:2cc739c7e4cb 353 sp.printf("Check enter\r\n");
MasashiNomura 36:2cc739c7e4cb 354 gf_StateEnt = false;
MasashiNomura 36:2cc739c7e4cb 355 }
MasashiNomura 38:24ee50452755 356 //setStateF(CHK_MOT);
MasashiNomura 23:79e20be4bc5b 357 break;
MasashiNomura 23:79e20be4bc5b 358 case CHK_MOT: //モーターチェック
MasashiNomura 36:2cc739c7e4cb 359 if(gf_StateEnt){
MasashiNomura 36:2cc739c7e4cb 360 sp.printf("Check Motor\r\n");
MasashiNomura 36:2cc739c7e4cb 361 gf_StateEnt = false;
MasashiNomura 36:2cc739c7e4cb 362 }
MasashiNomura 38:24ee50452755 363 //AxlRpm = hb.getUserMotAxl();
MasashiNomura 23:79e20be4bc5b 364 bDoCtrlMot = true;
MasashiNomura 23:79e20be4bc5b 365 break;
MasashiNomura 23:79e20be4bc5b 366 case CHK_AXL: //アクセルサーボチェック
MasashiNomura 36:2cc739c7e4cb 367 if(gf_StateEnt){
MasashiNomura 36:2cc739c7e4cb 368 sp.printf("Check Accel Servo\r\n");
MasashiNomura 36:2cc739c7e4cb 369 gf_StateEnt = false;
MasashiNomura 36:2cc739c7e4cb 370 }
MasashiNomura 38:24ee50452755 371 //TrtlVal = hb.getUserEngTrottle();
MasashiNomura 23:79e20be4bc5b 372 break;
MasashiNomura 23:79e20be4bc5b 373 case CHK_ATT: //姿勢制御チェック
MasashiNomura 36:2cc739c7e4cb 374 if(gf_StateEnt){
MasashiNomura 36:2cc739c7e4cb 375 sp.printf("Check Attitude\r\n");
MasashiNomura 36:2cc739c7e4cb 376 gf_StateEnt = false;
MasashiNomura 36:2cc739c7e4cb 377 }
MasashiNomura 23:79e20be4bc5b 378 bDoCtrlAtt = true;
MasashiNomura 23:79e20be4bc5b 379 break;
MasashiNomura 23:79e20be4bc5b 380 case CHK_EXIT: //チェックステート脱出
MasashiNomura 36:2cc739c7e4cb 381 if(gf_StateEnt){
MasashiNomura 36:2cc739c7e4cb 382 sp.printf("Check Exit\r\n");
MasashiNomura 36:2cc739c7e4cb 383 gf_StateEnt = false;
MasashiNomura 36:2cc739c7e4cb 384 }
MasashiNomura 23:79e20be4bc5b 385 break;
MasashiNomura 25:f3a6e7eec9c3 386 case MOT_STOP:
MasashiNomura 36:2cc739c7e4cb 387 if(gf_StateEnt){
MasashiNomura 36:2cc739c7e4cb 388 sp.printf("Motor Stop\r\n");
MasashiNomura 36:2cc739c7e4cb 389 gf_StateEnt = false;
MasashiNomura 36:2cc739c7e4cb 390 }
MasashiNomura 37:d51dacb4c30f 391 bDoCtrlAtt = false;
MasashiNomura 37:d51dacb4c30f 392 bDoCtrlMot = true;
MasashiNomura 37:d51dacb4c30f 393 bTmp = true;
MasashiNomura 37:d51dacb4c30f 394 for(int i = 0; i < 4; ++i){
MasashiNomura 37:d51dacb4c30f 395 if(gf_MtReq[i].req){
MasashiNomura 37:d51dacb4c30f 396 bTmp = false;
MasashiNomura 37:d51dacb4c30f 397 break;
MasashiNomura 37:d51dacb4c30f 398 }
MasashiNomura 37:d51dacb4c30f 399 if(gf_MtReqOfs[i].req){
MasashiNomura 37:d51dacb4c30f 400 bTmp = false;
MasashiNomura 37:d51dacb4c30f 401 break;
MasashiNomura 37:d51dacb4c30f 402 }
MasashiNomura 37:d51dacb4c30f 403 }
MasashiNomura 37:d51dacb4c30f 404 if(!bTmp)break;
MasashiNomura 37:d51dacb4c30f 405 for(int i = 0; i < 2; ++i){
MasashiNomura 37:d51dacb4c30f 406 if(gf_AxReq[i].bf.req){
MasashiNomura 37:d51dacb4c30f 407 bTmp = false;
MasashiNomura 37:d51dacb4c30f 408 break;
MasashiNomura 37:d51dacb4c30f 409 }
MasashiNomura 37:d51dacb4c30f 410 }
MasashiNomura 37:d51dacb4c30f 411 if(bTmp){
MasashiNomura 37:d51dacb4c30f 412 if(gf_FromActiveStat){
MasashiNomura 40:debe99e228d3 413 setStateF(IDLE);
MasashiNomura 37:d51dacb4c30f 414 }
MasashiNomura 37:d51dacb4c30f 415 else{
MasashiNomura 37:d51dacb4c30f 416 setStateF(SLEEP);
MasashiNomura 37:d51dacb4c30f 417 }
MasashiNomura 37:d51dacb4c30f 418 }
MasashiNomura 37:d51dacb4c30f 419
MasashiNomura 32:7f4145cc3551 420 // if(hb.stopMotor() == true){
MasashiNomura 32:7f4145cc3551 421 // hb.initMotVal();
MasashiNomura 32:7f4145cc3551 422 // setState(SLEEP);
MasashiNomura 32:7f4145cc3551 423 // sp.printf("MOTOR STOPPED!\r\n");
MasashiNomura 32:7f4145cc3551 424 // }
MasashiNomura 32:7f4145cc3551 425 // else{
MasashiNomura 32:7f4145cc3551 426 // //bDoCtrlMot = true;
MasashiNomura 32:7f4145cc3551 427 // sp.printf(".");
MasashiNomura 32:7f4145cc3551 428 // }
MasashiNomura 25:f3a6e7eec9c3 429 break;
MasashiNomura 22:24c9c2dedca9 430 }
takeru0x1103 21:78302ecdb661 431
takeru0x1103 21:78302ecdb661 432 //▼③各種設定
takeru0x1103 21:78302ecdb661 433 //hb.controlAttitude(); //姿勢制御
takeru0x1103 21:78302ecdb661 434 //hb.controlMotor();//モーター指令出し
MasashiNomura 23:79e20be4bc5b 435 if(bDoCtrlAtt)hb.controlAttitude(); //姿勢制御
MasashiNomura 23:79e20be4bc5b 436 if(bDoCtrlMot)hb.controlMotor();//モーター指令出し
MasashiNomura 39:1b76f7df8804 437 if(bDoCtrlEng)hb.controlEngine();//エンジン指令出し
MasashiNomura 31:56c554c560c1 438
MasashiNomura 23:79e20be4bc5b 439 if(gf_Print.bf.stat){
MasashiNomura 23:79e20be4bc5b 440 sp.printf("stat : [%X]\r\n",gf_State);
MasashiNomura 23:79e20be4bc5b 441 }
takeru0x1103 18:5aa48aec9cae 442 //表示フラグを落とす（けどモニタフラグが立ってる箇所は残る）
takeru0x1103 18:5aa48aec9cae 443 if(gf_Print.flg!=0){
takeru0x1103 18:5aa48aec9cae 444 gf_Print.flg=gf_Mon.flg;
takeru0x1103 18:5aa48aec9cae 445 sp.printf("\r\n");
takeru0x1103 18:5aa48aec9cae 446 }
MasashiNomura 26:732bc37fbefd 447 if(gf_DbgPrint.flg != 0){
MasashiNomura 26:732bc37fbefd 448 gf_DbgPrint.flg = 0;
MasashiNomura 26:732bc37fbefd 449 sp.printf("\r\n");
MasashiNomura 26:732bc37fbefd 450 }
takeru0x1103 1:15ab74f0d0f1 451
takeru0x1103 1:15ab74f0d0f1 452 //次の周期まで待つ
takeru0x1103 1:15ab74f0d0f1 453 vTaskDelayUntil(&xLastWakeTime, 20 / portTICK_RATE_MS );
takeru0x1103 1:15ab74f0d0f1 454 }
takeru0x1103 1:15ab74f0d0f1 455 }
takeru0x1103 18:5aa48aec9cae 456 //========================================================
takeru0x1103 21:78302ecdb661 457 //タスク２：デバッグ用タスク
takeru0x1103 18:5aa48aec9cae 458 //========================================================
takeru0x1103 18:5aa48aec9cae 459 void taskDebug(void *pvParameters){
takeru0x1103 21:78302ecdb661 460
takeru0x1103 21:78302ecdb661 461 taskStop(2);//自ら止めてレジュームされるまで待つ
MasashiNomura 24:c5945aaae777 462 UCHAR Num;
MasashiNomura 24:c5945aaae777 463 INT16 iVal;
MasashiNomura 25:f3a6e7eec9c3 464 //bool rvFlg;
MasashiNomura 24:c5945aaae777 465
takeru0x1103 21:78302ecdb661 466 //この関数をリターンしてしまうと他のタスクも止まるのでwhileで回すこと！
takeru0x1103 18:5aa48aec9cae 467 while(1){
MasashiNomura 24:c5945aaae777 468 for(Num = 0; Num < 8; ++Num){
MasashiNomura 24:c5945aaae777 469 for(iVal = 50; iVal < 300; ++iVal){
MasashiNomura 24:c5945aaae777 470 fpgaMotor(Num, iVal);
MasashiNomura 25:f3a6e7eec9c3 471 wait(0.002);
MasashiNomura 24:c5945aaae777 472 }
MasashiNomura 24:c5945aaae777 473 for(iVal = 300; iVal >= 50; --iVal){
MasashiNomura 24:c5945aaae777 474 fpgaMotor(Num, iVal);
MasashiNomura 25:f3a6e7eec9c3 475 wait(0.002);
MasashiNomura 24:c5945aaae777 476 }
MasashiNomura 24:c5945aaae777 477 }
MasashiNomura 23:79e20be4bc5b 478 //自タスク停止させて次の周期まで待つ
MasashiNomura 22:24c9c2dedca9 479 gf_Dbg = false;
MasashiNomura 23:79e20be4bc5b 480 sp.printf("Do DebugTask!");
takeru0x1103 18:5aa48aec9cae 481 taskStop(2);
takeru0x1103 18:5aa48aec9cae 482 }
takeru0x1103 18:5aa48aec9cae 483 }
takeru0x1103 17:f9610f3cfa1b 484
takeru0x1103 1:15ab74f0d0f1 485 //-------------------------------------------------------------
takeru0x1103 17:f9610f3cfa1b 486 //初期化：タスク登録
takeru0x1103 1:15ab74f0d0f1 487 //-------------------------------------------------------------
takeru0x1103 1:15ab74f0d0f1 488 void taskInit(){
takeru0x1103 21:78302ecdb661 489 portBASE_TYPE TaskRtn;//タスククリエイトの結果を受け取る型
takeru0x1103 18:5aa48aec9cae 490
takeru0x1103 21:78302ecdb661 491 //タスク０：コマンド解析タスク
MasashiNomura 26:732bc37fbefd 492 TaskRtn= xTaskCreate(taskCmdParser, (signed portCHAR *)"TaskCmd", 512, NULL, 1, &tskHandle[0]);
takeru0x1103 21:78302ecdb661 493 if(TaskRtn==pdTRUE){sp.printf("Task0 Set : Command parser\r\n");}
takeru0x1103 21:78302ecdb661 494
takeru0x1103 21:78302ecdb661 495 //タスク１：制御タスク
MasashiNomura 28:fdb3b144e342 496 TaskRtn= xTaskCreate(taskHbControl, (signed portCHAR *)"TaskHbCont", 1024, NULL, 2, &tskHandle[1]);
takeru0x1103 21:78302ecdb661 497 if(TaskRtn==pdTRUE){sp.printf("Task1 Set : Hoverbike Control\r\n");}
takeru0x1103 21:78302ecdb661 498
takeru0x1103 21:78302ecdb661 499 //タスク２：デバッグタスク
MasashiNomura 23:79e20be4bc5b 500 TaskRtn= xTaskCreate(taskDebug, (signed portCHAR *)"TaskDebug", 192, NULL, 0, &tskHandle[2]);
takeru0x1103 21:78302ecdb661 501 if(TaskRtn==pdTRUE){sp.printf("Task2 Set : Debug\r\n");}
takeru0x1103 8:1ca49cb18290 502
takeru0x1103 21:78302ecdb661 503 //RTOSカーネル起動（タスクが走り出す）
takeru0x1103 1:15ab74f0d0f1 504 vTaskStartScheduler();
takeru0x1103 1:15ab74f0d0f1 505 }
takeru0x1103 1:15ab74f0d0f1 506
takeru0x1103 1:15ab74f0d0f1 507